def callback(self, config, level):
#self.speedControl = config.speed_control
# create temporary message and fill with data from dynamic reconfigure
temp_msg = Axis()
temp_msg.pan = config.pan
temp_msg.tilt = config.tilt
temp_msg.zoom = config.zoom
temp_msg.focus = config.focus
temp_msg.brightness = config.brightness
temp_msg.autofocus = config.autofocus
# check sanity and apply values
self.cmd(temp_msg)
# read sanitized values and update GUI
config.pan = self.msg.pan
config.tilt = self.msg.tilt
config.zoom = self.msg.zoom
config.focus = self.msg.focus
config.brightness = self.msg.brightness
config.autofocus = self.msg.autofocus
# update GUI with sanitized values
return config
def callback(self, config, level):
"""Deprecated."""
#self.speedControl = config.speed_control
if self._executing_reconfigure or (hasattr(self, '_camera_controller') and (self._camera_controller._executing_parameter_update or self._camera_controller._executing_reconfigure)):
return config
with self._reconfigure_mutex:
self._executing_reconfigure = True
# create temporary message and fill with data from dynamic reconfigure
command = Axis()
command.pan = config.pan
command.tilt = config.tilt
command.zoom = config.zoom
command.focus = config.focus
command.brightness = config.brightness
command.autofocus = config.autofocus
# check sanity and apply values
self.cmd(command)
# read sanitized values and update GUI
config.pan = command.pan
config.tilt = command.tilt
config.zoom = command.zoom
config.focus = self._camera_controller._focus
config.brightness = self._camera_controller._brightness
config.autofocus = self._camera_controller._autofocus
self._executing_reconfigure = False
# update GUI with sanitized values
return config
def dynamicReconfigCallback(self, config, level):
#self.speedControl = config.speed_control
# create temporary message and fill with data from dynamic reconfigure
temp_msg = Axis()
temp_msg.pan = config.pan
temp_msg.tilt = config.tilt
temp_msg.zoom = config.zoom
temp_msg.focus = config.focus
temp_msg.brightness = config.brightness
temp_msg.autofocus = config.autofocus
# check sanity and apply values
self.cmdCallback(temp_msg)
# read sanitized values and update GUI
config.pan = self.msg.pan
config.tilt = self.msg.tilt
config.zoom = self.msg.zoom
config.focus = self.msg.focus
config.brightness = self.msg.brightness
config.autofocus = self.msg.autofocus
# update GUI with sanitized values
return config
def ptz():
global image_1
#rospy.init_node('axis_ptz_random_move')
# self.pub = rospy.Publisher('/cmd', Axis)
pub = rospy.Publisher('/cmd', Axis)
pub1 = rospy.Publisher('/chatter', Image)
rospy.init_node('ptzcmd', anonymous=True)
bridge=CvBridge()
Message=Axis()
sub=rospy.Subscriber('/image_raw/compressed', CompressedImage,callback,queue_size=1)
r = rospy.Rate(40)
while not rospy.is_shutdown():
pan1=float(raw_input("Enter pan:"))
tilt1=float(raw_input("Enter tilt:"))
zoom1=float(raw_input("Enter zoom:"))
brightness1=float(raw_input("Enter brightness:"))
#auto=True
Message.pan=pan1
Message.tilt=tilt1
Message.zoom=zoom1
Message.brightness=brightness1
#Message.autofocus=auto
pub.publish(Message)
r.sleep()
